I agree with Marcerella02
Emma and Milli both are fed on schedules. Emma had severe separation anxiety as a puppy, and we worked with a behaviorist to help us learn how to help her with this problem. Part of what we learned is to show Emma that we're the leaders-so NOTHING in our house is free. If she wants a treat, or to be fed, she has to sit, then stay until we say OK. If she wants us to throw a toy, or give her a bone-she does whatever tricks we ask her to before she can have it.
It's helped tremendously with her confidence, and knowing who is in charge. We use the same techniques with Milli, and it works well with her too.
I would strongly suggest that you feed on a schedule and ask them to sit/lay down before they can eat. (Work up to "stay"-it can take awhile to teach that one.) They understand that YOU are the provider of their food, and that YOU determine when they eat. It's natural for dogs to look to for leadership, especially when it comes to food.